Development of a muscle suit for the upper limb - Proposal of posture control methods

被引：6

作者：

Kobayashi, Hiroshi ^{[1
]}

Iba, Masaya ^{[1
]}

Suzuki, Hidetoshi ^{[1
]}

机构：

[1] Tokyo Univ Sci, Dept Mech Engn, 1-3 Kagurazaka, Tokyo 162, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

muscle suit; wearable robot; McKibben artificial muscle; upper limb motion; neural network; posture control;

D O I：

10.1109/IROS.2006.281810

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. Since five McKibben artificial muscles are employed for controlling the shoulder joint which has three DOF, nonlinear control method is required for posture control compensating load changes. Neural network is applied and posture control is well undertaken.

引用

页码：1056 / +

页数：2

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